Cargo handling system and control program

Abstract

To reduce the number of reference objects used for detecting a position.SOLUTION: An AFG 20 being a cargo handling vehicle performs cargo handling work between a delivery port 51 and a carrier vehicle T by automatic driving, and includes: a storage unit 26 which stores a facility side map M1 of a facility side area 11 containing the delivery port 51 and a moving body side map M2 of a moving body side area 12 containing the carrier vehicle T; a laser scanner 24 which detects a position of a reflector so as to calculate the own position of the AFG 20; and a control unit 27 which refers to the facility side map M1 or the moving body side map M2 in correspondence to the own position calculated by the laser scanner 24. At least two facility side reflectors R1 are arranged in the facility side area 11.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to load a handling system and control program.

Background Art

[0002] In recent years, in a handling system that performs handling work, the application of an automatically drivable handling vehicle such as an unmanned forklift has been progressing. In the technique described in Patent Document 1, a large number of reference objects such as reflectors are installed throughout the work area, and the position of the handling vehicle is ensured by detecting and referring to the position of this reference object.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, particularly in the case of a work area that includes a lot of outdoors such as a truck yard, it is difficult to install a large number of reference objects because the reference objects can become obstacles in places where moving objects such as trucks come and go. Therefore, an object of the present invention is to reduce the number of reference objects for position detection.

Means for Solving the Problems

[0006] The present invention is a handling vehicle that performs handling work by automatic driving between a stopped moving object and handling equipment, control means for controlling the operation of the handling vehicle, and a handling system comprising: the handling vehicle includes position calculation means for detecting the position of a reference object and calculating the self-position of the handling vehicle, At least two other reference objects are placed on the moving body, The control means is A storage means for storing equipment-side map information of the equipment-side area including the cargo handling equipment, and mobile-side map information of the mobile-side area including the mobile body, A map referencing means that, in accordance with the position calculation means of the cargo handling vehicle, refers to either the equipment-side map information or the mobile-side map information, Equipped with, At least two of the reference objects whose positions are detected by the position calculation means are arranged in the equipment-side area. The aforementioned mobile body side region is the region in which the mobile body is stopped at any position, and is the region in which the cargo handling vehicle can move around the mobile body. the law of nature, Each of the aforementioned equipment-side map information and the aforementioned mobile-side map information includes location information of a map information switching point for switching the referenced map information. The map referencing means switches the referenced map information to the other when its own position on one of the referenced map information (either the equipment-side map information or the mobile-side map information) coincides with the position of the map information switching point. This was the structure.

[0007] The present invention also relates to a control program for a cargo handling system comprising a cargo handling vehicle that performs cargo handling operations by automatic operation between a stationary moving object and cargo handling equipment, and control means for controlling the operation of the cargo handling vehicle, The cargo handling vehicle is equipped with storage means for storing equipment-side map information of the equipment-side area including the cargo handling equipment, and mobile-side map information of the mobile-side area including the mobile body. At least two other reference objects are placed on the moving body, Computers, A position calculation means that calculates the self-position of the cargo handling vehicle based on the positions of at least two reference objects arranged in the equipment-side area. A map referencing means that, in accordance with the self-position calculated by the position calculation means, refers to either the equipment-side map information or the mobile-side map information. To make it function as, The aforementioned mobile body side region is the region in which the mobile body is stopped at any position, and is the region in which the cargo handling vehicle can move around the mobile body. the law of nature, Each of the aforementioned equipment-side map information and the aforementioned mobile-side map information includes location information of a map information switching point for switching the referenced map information. The map referencing means switches the referenced map information to the other when its own position on one of the referenced map information (either the equipment-side map information or the mobile-side map information) coincides with the position of the map information switching point. I decided to make it so. [Effects of the Invention]

[0008] According to the present invention, the number of reference objects for position detection can be reduced.

Brief Description of the Drawings

[0009] [Figure 1] It is a diagram showing the working area of the material handling system according to the embodiment, and is a diagram for explaining the facility-side map and the mobile body-side map. [Figure 2] It is a block diagram showing the schematic control configuration of the material handling system according to the embodiment. [Figure 3] It is a flowchart showing the flow of the material handling process according to the embodiment. [Figure 4] It is a diagram for explaining a modified example of the reference object arranged in the facility-side area according to the embodiment.

Modes for Carrying Out the Invention

[0010] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0011] [Configuration of the Material Handling System] FIG. 1 is a diagram showing the working area 10 of the material handling system 1 according to the present embodiment, and is a diagram for explaining the facility-side map M1 and the mobile body-side map M2 described later. FIG. 2 is a block diagram showing the schematic control configuration of the material handling system 1. As shown in FIG. 1, the material handling system 1 is a system in which an automated guided forklift (hereinafter referred to as "AGF") 20 conveys and loads a load L from the warehouse shipping dock 51 to a transport vehicle (for example, a truck) T in the working area 10. In this specification, the "material handling (or material handling operation)" by the AGF 20 refers to operations such as picking up, loading, and unloading the load L performed by the AGF 20. In the present embodiment, it refers to operations performed on the shipping dock 51 or the loading platform C of the transport vehicle T. Further, the "material handling work" by the AGF 20 includes, in addition to the material handling, the operations of the AGF 20 associated therewith (traveling for material handling, conveying the load L, etc.).

[0012] The work area 10 of the cargo handling system 1 is, for example, a truck yard and includes an equipment-side area 11 and a mobile-side area 12. Of these, the equipment-side area 11 is an area including the fixed-position warehouse exit 51, and in this embodiment, it is a predetermined area around the exit 51. The exit 51 is an example of the cargo handling equipment according to the present invention, and is the place where cargo L stored in the warehouse is taken out by the AGF20. Furthermore, multiple (two in this embodiment) equipment-side reflectors R1 are arranged in the equipment-side area 11. The equipment-side reflectors R1 are reference objects for the AGF20 to calculate its own position and are the detection targets of the laser scanner 24, which will be described later. The two equipment-side reflectors R1 are arranged relatively close to the exit opening 51. The number of equipment-side reflectors R1 is not particularly limited, but at least two are sufficient.

[0013] The mobile body side area 12 is the area where the transport vehicle T is parked. The transport vehicle T is an example of a mobile body according to the present invention, and the cargo L is loaded onto its cargo bed C by the AGF 20. Furthermore, the transport vehicle T is equipped with multiple (two in this embodiment) mobile-side reflectors R2. The mobile-side reflectors R2 are reference objects for calculating the position of the transport vehicle T (and its cargo bed C) which is the object to be handled, and are the detection targets of the laser scanner 24, which will be described later. In this embodiment, the mobile-side reflectors R2 are provided at the front and rear ends of the opening of the cargo bed C of the transport vehicle T. The number of mobile-side reflectors R2 is not particularly limited, but at least two are sufficient. The mobile body side area 12 may partially overlap with the equipment side area 11, or it may be slightly separated from the equipment side area 11.

[0014] Specifically, the cargo handling system 1 includes an AGF20 and a control server 30, as shown in Figure 2.

[0015] The AGF20 is a cargo handling vehicle capable of transporting, lifting, and transferring cargo, and in this embodiment, it is an unmanned forklift that can travel on roads without using rails or the like. The AGF20 is an example of a cargo handling vehicle according to the present invention and is configured to enable automatic operation (unmanned operation) based on control commands from the control server 30. Specifically, the AGF20 comprises a drive unit 21, a cargo handling device 23, a laser scanner 24, a communication unit 25, a storage unit 26, and a control unit 27.

[0016] The drive unit 21 includes a drive motor and a steering motor (both not shown), which are various drive sources for the AGF20. The drive motor drives the drive wheels. The steering motor rotates the steering wheels (steering action). The cargo handling device 23 is for performing cargo handling operations and is located at the front of the AGF20 vehicle body. The cargo handling device 23 includes a mast that can be tilted forward or backward, a pair of left and right forks that are mounted on the mast so as to be able to move up and down and hold the load L, and a cargo handling motor that causes the forks to perform various operations such as raising and lowering and tilting.

[0017] The laser scanner 24 is an example of a position calculation means according to the present invention. The laser scanner 24 includes a light-emitting unit and a light-receiving unit. The light-emitting unit emits laser light, and the light-receiving unit detects the reflected light reflected by at least two reflectors, thereby calculating its own position (relative position to the reflectors) based on the principle of triangulation. The calculation result is output to the control unit 27. However, the laser scanner 24 may only perform light emission and reception, and the control unit 27 may calculate its own position based on the result.

[0018] The communication unit 25 is a communication device capable of sending and receiving various types of information to and from the control server 30. The control unit 27 is composed of a CPU (Central Processing Unit) and other components, and controls the operation of each part of the AGF20. Specifically, the control unit 27 unpacks programs pre-stored in the memory unit 26 and works in cooperation with the unpacked programs to execute various processes.

[0019] The memory unit 26 is a memory composed of RAM (Random Access Memory) and ROM (Read Only Memory), and it stores various programs and data, as well as functioning as a workspace for the control unit 27. In this embodiment, the storage unit 26 pre-stores the equipment-side map M1 and the mobile-side map M2, which are referenced when the AGF20 operates.

[0020] As shown in Figure 1, the equipment-side map M1 is map information of the equipment-side area 11. Map information is data that includes location information of required objects (e.g., reflectors described later) in the target area. Preferably, such map information can be displayed on a map on, for example, the display unit 32 of the control server 30, but it may also simply contain location information of the objects. The equipment-side map M1 contains positional information for at least the exit port 51, two equipment-side reflectors R1, and the equipment-side switching point P1. The equipment-side switching point P1 is the position where the referenced map information is switched from the equipment-side map M1 to the mobile-side map M2 when the AGF20 moves from the equipment-side area 11 to the mobile-side area 12. The equipment-side switching point P1 is located at the end of the equipment-side area 11 that is on the mobile-side area 12 side. Furthermore, the equipment-side map M1 contains information about the travel path G1 between the equipment-side switching point P1 and the outlet 51. The travel path G1 is a preferred route for AGF20 when it moves between the equipment-side switching point P1 and the outlet 51. Note that the travel path G1 may be different for the round trip between the equipment-side switching point P1 and the outlet 51.

[0021] The mobile unit side map M2 is map information of the mobile unit side region 12. The mobile-side map M2 contains position information for at least two mobile-side reflectors R2 and a mobile-side switching point P2. The mobile-side switching point P2 is the position where the referenced map information switches from the mobile-side map M2 to the equipment-side map M1 when the AGF20 moves from the mobile-side area 12 to the equipment-side area 11. The mobile-side switching point P2 is located at the end of the mobile-side area 12 that is on the equipment-side area 11 side. Preferably, the mobile-side switching point P2 is located within a predetermined range from the equipment-side switching point P1, and may be located at the same position as the equipment-side switching point P1. Furthermore, the mobile unit side map M2 contains information about the travel path G2 between the mobile unit side switching point P2 and the cargo bed C of the transport vehicle T. The travel path G2 is a preferred path when AGF20 moves between the mobile unit side switching point P2 and the cargo bed C. Note that the travel path G2 may be different for the round trip between the mobile unit side switching point P2 and the cargo bed C.

[0022] In the mobile body area 12, the position of the transport vehicle T, which is the mobile body, is not fixed (it can change). Therefore, the information on the two mobile body reflectors R2 and the movement path G2 in the mobile body map M2 is only valid if the transport vehicle T is stopped at a predetermined position. Furthermore, it is preferable that the mobile-side map M2 is assigned and stored information about the transport vehicle T corresponding to the two stored mobile-side reflectors R2 and the travel path G2. Furthermore, the memory unit 26 has multiple mobile body side maps M2 associated with multiple types of transport vehicles T pre-stored, and it is preferable that the mobile body side map M2 corresponding to the transport vehicle T actually located in the mobile body side area 12 is selected and referenced. This allows for cargo handling operations to be performed appropriately according to the type of transport vehicle T.

[0023] As shown in Figure 2, the control server 30 centrally controls the cargo handling system 1 and is configured to control the operation of the AGF20. The control server 30 can be any device capable of controlling the cargo handling system 1, and may, for example, consist of a terminal device and a cloud server. Specifically, the control server 30 includes an operation unit 31, a display unit 32, a communication unit 35, a storage unit 36, and a control unit 37.

[0024] The operation unit 31 is an operating means that allows the operator to perform various operations to operate the control server 30, and includes, for example, a pointing device such as a mouse or keyboard. The display unit 32 is, for example, a liquid crystal display, an organic electroluminescent display, or other type of display. The display unit 32 displays various information based on display signals input from the control unit 37. The display unit 32 may also be a touch panel that also functions as at least a part of the operation unit 31.

[0025] The communication unit 35 is a communication device capable of sending and receiving various types of information with the AGF20. The memory unit 36 ​​is a memory composed of RAM (Random Access Memory) and ROM (Read Only Memory), and it stores various programs and data, as well as functioning as a workspace for the control unit 37. The control unit 37 is composed of a CPU (Central Processing Unit) and other components, and controls the operation of each part of the control server 30. Specifically, the control unit 37 deploys programs pre-stored in the memory unit 36 ​​based on the operation content of the operation unit 31, and performs various processes in cooperation with the deployed programs.

[0026] [Operation of the cargo handling system] Next, we will explain the operation of the cargo handling system 1 when the AGF20 loads the cargo L from the outlet 51 onto the transport vehicle T and unloads it. Figure 3 is a flowchart showing the flow of this cargo handling process. Cargo handling operations are performed by the control unit 37 of the control server 30, which reads the corresponding program from the storage unit 36 ​​and loads it based on the operator's input. Here, it is assumed that the initial position of AGF20 is within the equipment-side area 11.

[0027] As shown in Figure 3, when cargo handling is performed, the control unit 37 of the control server 30 first sends a command to the AGF20 to start cargo handling work based on the operator's input (step S1). Here, a command is sent to load the cargo L from the outlet 51 onto the loading platform C of the transport vehicle T in a predetermined order. Then, the control unit 27 of the AGF20 reads and references the equipment-side map M1 from the storage unit 26 as map information corresponding to its own position (initial position) at that time (step S2).

[0028] Next, the control unit 27 detects a reference object in the surrounding area using the laser scanner 24 (step S3). Here, if AGF20 is in the equipment-side area 11, the laser scanner 24 detects the positions of the two equipment-side reflectors R1 and compares them with the position information of the two equipment-side reflectors R1 set in the equipment-side map M1 to calculate the self-position of AGF20. This gives the self-position of AGF20 in the equipment-side map M1.

[0029] On the other hand, when AGF20 is in the mobile body area 12, the laser scanner 24 detects the positions of the two mobile body reflectors R2 and compares them with the position information of the two mobile body reflectors R2 set in the mobile body map M2. Then, the control unit 27 corrects the movement path G2 to the loading platform C and the position of the mobile body switching point P2 set in the mobile body map M2 based on the difference between the actual positions of the two mobile body reflectors R2 and the set positions on the mobile body map M2. This determines the actual position of the transport vehicle T (and its loading platform C), and the information in the mobile body map M2 is corrected accordingly.

[0030] Furthermore, the calculation of the self-position by the laser scanner 24 may be performed continuously during operation. Alternatively, the self-position may be continuously measured by internal sensors such as an inertial measurement unit (IMU), and this self-position may be periodically corrected using the calculation results from the laser scanner 24.

[0031] Next, the control unit 27 operates the drive unit 21 to move (travel) the AGF20 to the loading / unloading target (the loading dock 51 or the loading platform C of the transport vehicle T) (step S4). In this case, if AGF20 is in the equipment-side area 11, it moves to the exit port 51, and if AGF20 is in the mobile-side area 12, it moves to the loading platform C of the transport vehicle T. If AGF20 is located at a map switching point (equipment-side switching point P1 or mobile-side switching point P2), it will move from that map switching point along the movement paths G1 and G2 to the cargo handling target.

[0032] Next, the control unit 27 operates the drive unit 21 and the cargo handling device 23 to cause the AGF 20 to perform cargo handling operations on the cargo to be handled (step S5). In this configuration, if AGF20 is in the equipment-side area 11, it takes the cargo L from the exit port 51, and if AGF20 is in the mobile-side area 12, it loads the cargo onto the cargo bed C of the transport vehicle T.

[0033] Next, the control unit 27 operates the drive unit 21 to move the AGF20 to the map switching point (equipment-side switching point P1 or mobile body-side switching point P2) (step S6). In this case, if AGF20 is in the equipment-side area 11, it moves to the equipment-side switching point P1, and if AGF20 is in the mobile-side area 12, it moves to the mobile-side switching point P2.

[0034] Next, the control unit 27 determines whether the AGF20 has reached the map switching point (its own position matches the position of the map switching point) (step S7). If it determines that it has not reached the point (step S7; No), it repeats step S7.

[0035] Then, if AGF20 determines that it has reached a map switching point (step S7; Yes), the control unit 27 switches the map information to be referenced to the one that is not currently being referenced (step S8). In this case, if AGF20 is in the equipment-side area 11 and reaches the equipment-side switching point P1, the control unit 27 switches the referenced map information from the equipment-side map M1 to the mobile-side map M2. On the other hand, if AGF20 is in the mobile-side area 12 and reaches the mobile-side switching point P2, the control unit 27 switches the referenced map information from the mobile-side map M2 to the equipment-side map M1. The timing of the map switch is not particularly limited; for example, it may occur slightly before reaching the map switch point. In this case, it is preferable to detect the reflector in the destination area and detect (correct) the position of the map switch point in that destination area before reaching the map switch point (before switching the map information). The position of the map switch point in the destination area may also be stored in the currently referenced map information.

[0036] Next, the control unit 27 operates the drive unit 21 to move the AGF 20 between the equipment-side switching point P1 and the mobile body-side switching point P2 (step S9). Here, the control unit 27 generates a path between the equipment-side switching point P1 and the mobile-side switching point P2 based on their position information, and moves the AGF20 along this path. If the equipment-side switching point P1 and the mobile-side switching point P2 are in the same location, this step is omitted. Subsequently, the control unit 27 proceeds to step S3 described above, and repeats loading / unloading and driving in the moved area while referring to the map information of that area.

[0037] Then, in any of the steps S3 to S9 described above, if it is determined that the cargo handling process should be terminated, for example, when a predetermined load L has been unloaded, the control unit 27 notifies the control server 30 of the termination of the cargo handling process, and the control unit 37 of the control server 30 terminates the cargo handling process.

[0038] [Technical effects of this embodiment] As described above, according to this embodiment, the positions of at least two equipment-side reflectors R1 located in the equipment-side area 11 are detected to calculate the self-position of the AGF20, and either the equipment-side map M1 or the mobile-side map M2 is referenced in accordance with this self-position. In other words, the AGF20 can be appropriately guided by at least two equipment-side reflectors R1 installed on the fixed equipment, and by referring to map information corresponding to this position. Therefore, the number of reference objects (reflectors) for position detection can be reduced compared to conventional methods in which numerous reference objects were installed throughout the entire work area. Consequently, the introduction cost of the AGF20 can be reduced. Furthermore, if the entire work area were included in a single map, the relative position of the entire map would change as the position of the transport vehicle changes. However, since the mobile-side map M2, which includes the transport vehicle T, is separated from the equipment-side map M1, which includes the fixed-position exit 51, even if the position of the transport vehicle T changes, only the position information of the mobile-side map M2 changes. Furthermore, because the equipment-side map M1 and the mobile-side map M2 are separate, even if there are changes to the layout of the work area 10, such as the movement or increase / decrease of the exit gate 51, it is only necessary to change the map information for the relevant part, making it easy to respond.

[0039] Furthermore, according to this embodiment, the transport vehicle T is equipped with at least two mobile-side reflectors R2, and the laser scanner 24 detects the position of these mobile-side reflectors R2 to determine the position of the transport vehicle T. This allows for accurate determination of the position of the cargo bed C of the transport vehicle T, which changes position each time it stops or parks, and enables the loading and unloading operation to be performed accordingly.

[0040] Furthermore, according to this embodiment, the equipment-side map M1 only needs to include positional information for the exit port 51 located on the opposite side from the mobile-side area 12, the equipment-side switching point P1 located on the mobile-side area 12 side, and at least two equipment-side reflectors R1. Therefore, the equipment-side map M1 can be simplified to only include the area around the exit 51.

[0041] [others] Although embodiments of the present invention have been described above, the present invention is not limited to the embodiments described above. For example, in the above embodiment, the AGF20 calculates its own position using two equipment-side reflectors R1 provided in the equipment-side area 11. However, the reference object for position detection provided in the equipment-side area 11 does not have to be two equipment-side reflectors R1. Of course, the position information of the reference object is included in the reference map information. Specifically, as shown in Figure 4(a), for example, the exit door 51 and the surrounding wall 52 may be used as reference objects, and their positions may be detected by the laser scanner 24. Alternatively, as shown in Figure 4(b), the exit door 51 and the surrounding wall 52, and at least one reflector R3 spaced perpendicularly from the wall 52 may be used as reference objects. In the case of Figure 4(a), there is a risk that the vehicle's own position in the direction along the wall 52 cannot be determined, but this can be solved by referring to the reflector R3 located perpendicular to the wall 52. In this case, the reflector R3 should be spaced at least a predetermined distance from the wall 52 in order to be clearly distinguishable from the wall 52. However, when the opening of the outlet 51 is wide open, or when the area of ​​detection that can be referenced is small, the self-position may not be calculated properly, and the position guidance accuracy of the AGF20 may decrease. For this reason, as in the above embodiment, it is preferable to provide at least two reference objects that are different from the wall 52 around the outlet 51.

[0042] Furthermore, in the above embodiment, a reflector (reflective body) installed in the equipment-side area 11 or the transport vehicle T is detected by a laser scanner (optical sensor). However, the reference object for position detection and the means for detecting it are not limited to this combination. For example, the reference object may be a barcode, IC tag, marker, etc., and in that case, the detection means can be any means capable of detecting these. Alternatively, if the detection method is in the equipment-side area 11, any fixed object installed in the equipment-side area 11 may be used as the reference object, and this fixed object may be captured by image recognition using an imaging means. Also, when detecting the transport vehicle T, for example, the shape of the transport vehicle T itself may be recognized by an imaging means, and the relative coordinates of the mobile body-side area 12 may be obtained based on this.

[0043] Furthermore, in the cargo handling process of the above embodiment, the cargo L at the exit port 51 is transported, loaded onto the transport vehicle T, and then transported out. However, the cargo handling operations performed by AGF20 only need to be performed between the cargo handling equipment and the mobile body. For example, it could be cargo handling operations such as transporting the cargo brought in by the transport vehicle T, unloading it into the warehouse, and then transporting it in.

[0044] Alternatively, the control server 30 may perform operational control of the AGF20, including position guidance. In this case, the equipment-side map M1 and the mobile-side map M2 are stored in the storage unit 36 ​​of the control server 30, and the control unit 37 of the control server 30 can guide the AGF20 by referring to either the equipment-side map M1 or the mobile-side map M2, corresponding to the AGF20's own position. The AGF20's own position may be calculated by the laser scanner 24 of the AGF20 and received by the control server 30, or the control server 30 may receive the reflector detection result from the laser scanner 24 and the control unit 37 may calculate it.

[0045] Furthermore, in the above embodiment, the AGF20 operates in response to commands from the control server 30, but the AGF20 may also operate independently of the control server 30. In this case, the control unit 27 can read and unpack the program stored in the storage unit 26 of the AGF20, thereby executing the cargo handling process of the above embodiment.

[0046] Furthermore, the cargo handling vehicle according to the present invention is not limited to an unmanned forklift, but may also be an automated guided vehicle (AGV), for example, as long as it is capable of cargo handling and driving by automatic operation. Furthermore, details shown in the above embodiments can be modified as appropriate without departing from the spirit of the invention. [Explanation of Symbols]

[0047] 1. Cargo handling system 10 Work Areas 11 Equipment side area 12 Moving body side area 20 AGF (Cargo Handling Vehicles) 24. Laser scanner (position calculation means) 26 Storage unit (storage means) 27 Control Unit (Map Reference Means) 30 Control Server (Control Means) 51 Outlet (Cargo handling facilities) 52 Wall G1, G2 travel routes L load M1 Equipment-side map (equipment-side map information) M2 Mobile-side map (mobile-side map information) P1 Equipment-side switching point (map information switching point) P2 Mobile device switching point (map information switching point) R1 Equipment-side reflector (reference object) R2 Reflector on the moving object side (other reference object) T Transport vehicle (mobile) C Cargo bed

Claims

1. A cargo handling vehicle that performs automated cargo handling operations between a stationary moving object and cargo handling equipment, Control means for controlling the operation of the cargo handling vehicle, A cargo handling system equipped with, The cargo handling vehicle is equipped with a position calculation means that detects the position of a reference object and calculates the position of the cargo handling vehicle itself. At least two other reference objects are placed on the moving body, The control means is A storage means for storing equipment-side map information of the equipment-side area including the cargo handling equipment, and mobile-side map information of the mobile-side area including the mobile body, A map referencing means that, in accordance with the position calculation means of the cargo handling vehicle, refers to either the equipment-side map information or the mobile-side map information, Equipped with, At least two of the reference objects whose positions are detected by the position calculation means are arranged in the equipment-side area. The aforementioned mobile body side region is the region in which the mobile body can be stopped at any position, and is the region in which the cargo handling vehicle can move around the mobile body. Each of the aforementioned equipment-side map information and the aforementioned mobile-side map information includes location information of a map information switching point for switching the referenced map information. The map referencing means switches the referenced map information to the other when its own position on one of the referenced map information (equipment-side map information or mobile-side map information) coincides with the position of the map information switching point. Cargo handling system.

2. The position calculation means detects the position of the other reference object and calculates the position of the moving body, The cargo handling system according to claim 1.

3. The equipment-side map information includes the position information of the cargo handling equipment located on the opposite side from the mobile body-side area, the map information switching point located on the mobile body-side area, and the at least two reference objects. A cargo handling system according to claim 1 or claim 2.

4. The storage means pre-stores a plurality of map information for the mobile body, which is associated with a plurality of types of the mobile body. The map referencing means refers to the mobile body side map information corresponding to the type of mobile body located in the mobile body side area. A cargo handling system according to any one of claims 1 to 3.

5. A control program for a cargo handling system comprising a cargo handling vehicle that performs cargo handling operations by automatic operation between a stationary moving object and cargo handling equipment, and control means for controlling the operation of the cargo handling vehicle, The cargo handling vehicle is equipped with storage means for storing equipment-side map information of the equipment-side area including the cargo handling equipment, and mobile-side map information of the mobile-side area including the mobile body. At least two other reference objects are placed on the moving body, Computers, A position calculation means for calculating the self-position of the cargo handling vehicle based on the positions of at least two reference objects arranged in the equipment-side area. A map referencing means that, in accordance with the self-position calculated by the position calculation means, refers to either the equipment-side map information or the mobile-side map information. To make it function as, The aforementioned mobile body side region is the region in which the mobile body can be stopped at any position, and is the region in which the cargo handling vehicle can move around the mobile body. Each of the aforementioned equipment-side map information and the aforementioned mobile-side map information includes location information of a map information switching point for switching the referenced map information. The map referencing means switches the referenced map information to the other when its own position on one of the referenced map information (equipment-side map information or mobile-side map information) coincides with the position of the map information switching point. Control program.

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